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Kenichiro Nagasaka

3 accepted papers

2021

Tachyon: Design and Control of High Payload, Robust, and Dynamic Quadruped Robot with Series-Parallel Elastic Actuators

Yasuhisa Kamikawa, Masaya Kinoshita, Noriaki Takasugi, Katsufumi Sugimoto, Toshimitsu Kai, Takashi Kito +3
IROS 2021poster

This paper introduces a quadruped robot, Tachyon, which aims to achieve high payload, robust, and dynamic locomotion on the various terrain with high energy efficiency. Thanks to a novel compact series-parallel elastic actuator (SPEA) on the upper link and a four-bar linkage design in the knee joint…

Cited by 11Source ↗Scholar ↗
2020

3D-CNN Based Heuristic Guided Task-Space Planner for Faster Motion Planning

Ryo Terasawa, Yuka Ariki, Takuya Narihira, Toshimitsu Tsuboi, Kenichiro Nagasaka
ICRA 2020poster

Motion planning is important in a wide variety of applications such as robotic manipulation. However, it is still challenging to reliably find a collision-free path within a reasonable time. To address the issue, this paper proposes a novel framework which combines a sampling-based planner and deep…

Cited by 31Source ↗Scholar ↗
2020

Theoretical Derivation and Realization of Adaptive Grasping Based on Rotational Incipient Slip Detection

Tetsuya Narita, Satoko Nagakari, William Conus, Toshimitsu Tsuboi, Kenichiro Nagasaka
ICRA 2020poster

Manipulating objects whose physical properties are unknown remains one of the greatest challenges in robotics. Controlling grasp force is an essential aspect of handling unknown objects without slipping or crushing them. Although extensive research has been carried out on grasp force control, unknow…

Cited by 15Source ↗Scholar ↗